Efficiency, optimality, and selection in a rigid actuation system with matching capabilities for an assistive robotic exoskeleton

Ghaffar, Asim; Rahman, Muhammad Zia Ur; Leiva, Víctor; Martin-Barreiro, Carlos; Ali, Imran; Cabezas, Xavier; Castro, Cecilia

doi:10.1016/j.jestch.2023.101613

Cited by 2 publications

(1 citation statement)

References 31 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The field of robotics is continually evolving, introducing manipulator designs in diverse applications (Ghaffar et al, 2024). In this diversity, cable-based parallel manipulators (CPMs), which are robotic systems that operate using cables for movement and control, have emerged as a solution, offering flexibility, precision, and benefits in challenging environments (Ghaffar and Hassan, 2015b;Alakhras et al, 2022;Nazir et al, 2022;Hamdoun et al, 2017;Wang et al, 2021;Juárez-Pérez et al, 2022;Muntashir and Nurahmi, 2022).…”

Section: Introductionmentioning

confidence: 99%

Optimized design and analysis of cable-based parallel manipulators for enhanced subsea operations

Ghaffar,

Rahman,

Leiva

et al. 2024

Ocean Engineering

View full text Add to dashboard Cite

Section: Introductionmentioning

confidence: 99%

Optimized design and analysis of cable-based parallel manipulators for enhanced subsea operations

Ghaffar,

Rahman,

Leiva

et al. 2024

Ocean Engineering

View full text Add to dashboard Cite

Solvability and algorithm for Sylvester-type quaternion matrix equations with potential applications

Rehman,

Kyrchei,

Rahman

et al. 2024

MATH

View full text Add to dashboard Cite

<abstract><p>This article explores Sylvester quaternion matrix equations and potential applications, which are important in fields such as control theory, graphics, sensitivity analysis, and three-dimensional rotations. Recognizing that the determination of solutions and computational methods for these equations is evolving, our study contributes to the area by establishing solvability conditions and providing explicit solution formulations using generalized inverses. We also introduce an algorithm that utilizes representations of quaternion Moore-Penrose inverses to improve computational efficiency. This algorithm is validated with a numerical example, demonstrating its practical utility. Additionally, our findings offer a generalized framework in which various existing results in the area can be viewed as specific instances, showing the breadth and applicability of our approach. Acknowledging the challenges in handling large systems, we propose future research focused on further improving algorithmic efficiency and expanding the applications to diverse algebraic structures. Overall, our research establishes the theoretical foundations necessary for solving Sylvester-type quaternion matrix equations and introduces a novel algorithmic solution to address their computational challenges, enhancing both the theoretical understanding and practical implementation of these complex equations.</p></abstract>

show abstract

Efficiency, optimality, and selection in a rigid actuation system with matching capabilities for an assistive robotic exoskeleton

Cited by 2 publications

References 31 publications

Optimized design and analysis of cable-based parallel manipulators for enhanced subsea operations

Optimized design and analysis of cable-based parallel manipulators for enhanced subsea operations

Solvability and algorithm for Sylvester-type quaternion matrix equations with potential applications

Contact Info

Product

Resources

About